Gyroscopic apparatus



Dec. 4, 1951 Filed July 20, 1949 F. H. DOWNING GYROSCOPIC APPARATUS 5Sheets-Sheet 1 INVENTOR. FREDERICK H. DOWNING X 14 a %W HIS ATTQRNEY 5Sheets-Sheet 2 LAT.

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' INVENTbR. FREDERICK H'. DOWNING }A @W HIS ATTORNEY Dec. 4, 1951 F. H.DOWNlNG GYROSCOPIC APPARATUS Filed July 20, 1949 I 252 LONG.

Dec. 4, 1951 Filed July 20, 1949 EILEE llllllllli' gl F. H. DOWNINGGYROSCOPIC APPARATUS 5 Sheets-Sheet 3 Illl INVENTOR. FREDERICK H.DQWNING HIS ATTORNEY Dec. 4, 1951 H. DOWNING 2,577,313

GYROSCOPIC APPARATUS Filed July 20, 1949 I 5 Sheets-Sheet 4 r NEINVENTOA FREDERICK H. DOWNING J2 %%WW ms ATTORNEY Dec. 4, 1951 F. H.DOWNING 1 GYROSCOPIC APPARATUS Filed July 20, 1949 5 Sheets-Sheet 5 HISATTORNEY Patented Dec. 4, 1951 UNITED STATES @T NT OFFICE 'GYROSCOPICAPPARATUS 7 Frederick H. Downing, Balboa, 0. Z. 7 Application July 20,1949, Serial No. 105,853

'18 Claims.

This invention relates to gyroscopic apparatus, and more especially toapparatus of this character for determining longitude, latitude anddirection;

object of my invention is the provision of simple, practical andreliable navigational appar-atus such as for use on naval vessels,aircraft or land vehicles for determining position and direction.

Another object of this invention is that of providing a gyroscopicnavigational instrument which operates substantially free of precession.

A further object of my invention is the provision of a navigationalinstrument for gyroscopically determining longitude substantiallywithout precession of the longitude gyroscope means employed. I

A further object of the invention is the provision of gyroscopicnavigational apparatus for accurately giving direction and longitude andlatitude of position throughout travel and stopping of a supportingconveyance.

Another object is the provision of navigational apparatus fordetermining longitude even at the earths poles.

A still further object of my invention is the provision of a system ofnavigational apparatus for denoting longitude and latitude at a pointremote from gyroscopes employed.

Other objects of my invention in part will be obvious and in partpointed out more fully hereinafter,

The invention accordingly consists in the combination of elements, andfeatures of construction and operation, the scope of the application ofwhich is indicated in the following claims.

In the accompanying drawing representing a preferred embodiment of myinvention:

Figure 1A is a sectional elevation of a gyroscopic instrument withtheinstrument occupying a position at the north pole of the earth;

Figure 13 represents the panel of the instru 'ment in Figure 1A;

' Figure 2 is a cross "section of the instrument taken along the lineI'I II in Figure 1A with the instrument in the same position as before;

I Figure 3 is a sectional elevation taken along the line III--III inFigure 1A and with the in strument at the earthsequator;

Figure i illustrates certain certain details of a chronometer controlledlightray breaking ystem in the navigation instrument;

Figure 5 isa side View, partially in section, representingcertaindetails of the chronometer controlled driving mechanism of theinstrument;

2 Figure 6 represents details of a difierenti'al gear connection inlongitude measuring system of the instrument; and

Figure 7 is a wiring diagram applied to the instrument. Like referencecharacters denote like parts or portions throughout the, several figuresof the drawing. 7 I As conducive to a clearer understanding of certainfeatures of my invention, it may be noted at this point that gyro'scopicnavigational instru= ments heretofore have been utilized for deter-amining one ormore such factors in navigation as. longitude, latitudeianddirection. In those devices where longitude and latitude are to bemeasured, for example, it is conventional to employ a polar gyroscopeand an east-west gyro scope, these for maintaining initially setpositions in space under conditions of spin. The polar gyroscope isemployed to preserve an axis of spin parallel to the polar axis of theearth and to accommodate relative movement of support means to give ameasure of latitude by variation of the angle so formed. The eastvvestgyroscope is for maintaining its axis of spin parallel to the equatorialplane of the earth, so that support means for the rotor of thisgyroscope may deflect to give a measure of longitude. Ihe latterdeflection is dependent for example upon movement east or west by aconveyance on which the instrument is used, but further may be affectedby rotation of the earth, such as when the conveyance is stopped andproduces 'no change in longitude. In this connection, it'is well knownof course that the earth undergoes a complete revolution on its polaraxis in a sidereal day, this in terms of ordinary clock time beingapproximately 23' hours, 56 minutes and 4.1 seconds. With the east-westgyroscope presumably maintaininga fixed position in space, the gyroscopesupport, where'having freedom of motion substantially at right anglesrelative to the rotor spin axis, undergoes a complete revolution in asidereal day, for no change in longitude. Where the conveyance is movingthrough different longitudes, however, the sidereal rotation of theeast-west gyroscope support is either increased or decreased depend{ ingupon whether the conveyance is being moved to the west or to the east.It is this increase or decrease, as the case may be, which properconditions may be used to represent changes in longitude. 1 f

A number of difficulties leading 'to inaccuracies; however, have beenencountered in many ofithe conventional gyroscopic navigational instru'ments. Outstanding among these dimculties is precession. Precession is amotion which results from a tilt compounded with momentum of a highspeed gyroscope rotor, and has a direction approximately at right anglesto the primary displacing or tilting effort. The mechanics, geometry andmathematics of the development of precession are well known to thoseskilled in the art and an extended consideration here is believedunnecessary. It may be noted, however, that the direction of precessiondepends upon the direction of the tilt and the direction of rotation ofthe gyroscope rotor. For instance, as viewed endwise, a downward dip ofa rotor axle will cause precession to the left if the rotor is spinningclockwise, or to the right if the rotor is spinning counterclockwise; oran upward tilt would cause precession to the right if the rotor isspinning clockwise,'or to the left ifspinning counterclockwise. In thisconnection, it may be said that the full elimination of friction from agyroscope is impossible of achievement. Thus, especially in many of theheretofore known gyroscopic navigational instruments employed formeasuring longitude, there is a pronounced tendency for the east-westgyroscope to precess to polar position due to the friction developed atthe pivotal mountings by sidereal rotation of the earth to the east. Afurther source of movement often leading to friction and torque, causingprecession, occurs upon movement to the east by the conveyance on whichthe instrument is mounted. Under the latter condition the gyroscoperotor supports usually, pivots through more than 360" in a singlesidereal day. The relative movement of the mountings of a polargyroscope around the polar parallel axis of spin usually is more gradualsince the spin of the earth does not contribute to the movement. Also,the measurement of latitude is usually less affected by precession ofthe polar gyroscope since one of the effects of precession in gyroscopicnavigating instruments is the tendency of the processing gyroscope toseek polar position. Under certain circumstances, however, precession ofthe east-west gyroscope has been known to cause serious deviation of thepolar gyroscope and thus introduce inaccuracies in both longitude andlatitude readings obtained. Displacement of the polar gyroscope fromdirection in space also affects compass readings where the preservationof this direction governs accuracy of the readings. While effortshave-been made in the prior art to overcome detriments of precession,this often has lead to cumbersome and not appreciably effectiveequipment.

An outstanding object of my invention accordingly is the provision ofsimple, compact and reliable gyroscopic apparatus for determininglongitude, latitude and direction substantially free of the detrimentaleffects. of precession of the longitude gyroscope means. 7

Referring now more particularly to the preferred embodiment of myinvention (see the accompanying drawing) I provide a gyroscopicnavigational instrument It] for determining longitude, latitude anddirection. The instrument preferably includes casing l2, this forexample being suitably fastened to the deck I l of a marine vessel andserving as a support and protective enclosure for a carriage l3. Thiscarriage illustratively comprises a frame l9 pivotally supported bylaterally extended stub shafts i and 16 in a gimbal ring M, which inturn is supported for rotation at right angles to the latter pivots bystub shafts I! and I8 extending into the WEiHS of the instrument casing[2. The stub shafts l5, I6, I! and I8 preferably have their respectiveaxes all substantially in the same plane. When the instrument is is inthe installed position, stub shafts i5 and I6 illustratively are inalignment with each other at right angles to the bowto-stern center lineof the marine vessel or other conveyance, and the stub shafts H and isalso are in alignment with each other, but are parallel to this samecenter line.

A stabilizing gyroscope having a rotor 2| serves to maintain verticalityof the carriage I3 and to lend stability to other components of theinstrument Ill. The stabilizing gyroscope rotor advantageously has itsaxis of spin in alignment with the vertical axis of the navigatinginstrument, and preferably is the armature of a suitable electric motor20, this motor for example being fixed to the lowerportion of frame itand including the field windings 23. The stabilizing gyroscope thusembodies pendulous pivotal connection of the rotor 2| with theinstrument case i 2, the connection being through carriage l3,-stubshafts I 5 and i 6, gimbal ring Id and stub shafts l1 and i8. Movementof the deck H and instrument case l2 accordingly may be absorbed at thepivot points formed at shafts i5, i6, IT and I8. Beyond those points forexample, the effective dead weight of the instrument 10 coupled withspin of the rotor 2| preserve alignment of the carriage I3 to the centerof gravity of the earth, and the stabilizing gyroscope resists swayingdisturbances caused by rolling, pitching or vibrations of the ship orother conveyance on which the navigational instrument is used.

' The instrument l0 comprises a head which is pivotally supported to across-portion 19a of the frame IQ. For this purpose, the headconveniently'includes a spindle 62 which passes through a low-frictiondisc bearing element 63, dished in shape and having races andcorresponding balls, 63a in the races on opposite faces thereof. Some ofthese balls are so positioned as to prevent lateral thrust of thespindle. In this, the bearing element 63 is confronted by substantiallyconforming faces of the frame cross-portion [9a and head 60, and servesto'separate the head and frame for rotation with low friction. Below thebearin element, the spindle passes through an opening in thecross-portion [9a with substantial clearance against binding or rubbingagainst the walls of this opening. The spindle conveniently is longenough to have an end below the cross-portion, there to receive a shaftcoupling 65 and thus be in full rotary connection with the armatureshaft 25a of a synchro transmitter 26. A spacing ring 64 mounted aroundthe spindle 62 with clearance, such as by welding to the underneath ofcross-portion 911, is slightly behind the shaft coupling so as not to,rub against the same. while preventing with: drawal of the head 59 fromthe bearing or pivot of which the spindle forms a part. The generalshape of the head conveniently is that of a rectangular frame, thespindle 82 extending vertically downward from the midpoint of the lowerside. The head also includes aligned inwardly extending horizontalarbors 68 and 15, these being on the vertical legs of the substantiallyrectangular frame to provide an axis which is at right'angles to theaxis of spindle 62, as in, a plane with the axis of stub shafts i5 and"5.

Bed means, such as substantially fiat plate 6| having bushings 6! and 14individually receiving the respe ive arbors 68 and i5, affords a base.

for an electric -motor 30, this motor including- .field Windings'33 andan armature 3'1 which is the rotor of a :polar gyroscope. The motor 3'0in 'fac-t is of any suitable type for gyroseopic use and convenientlyfits within an open-mg '35 in the plate 6|, the rotor or armature 3Ipreferably having its axis of spin 32 substantially in the plane of, theplate after the motor is mounted to the latter by suitable fasteningmeans.

Thebush'ings 61 and F l "conveniently -fit in slots on opposite sides ofthe plate 6i and "are secured I to the plate as by welding in axialalignment, the axis for example falling within the thick mess of theplate. The bushings respectively have axial bores 61a and 14a which areenlaig'edto ward. the "outside to produce shoulders 67b and 14b havingannular faces. Arbors 68' and I5 respectively have reduced diameterportions in side 'the bores Sid and Mo and are s'eparatedfrom thebushings by ball race bearings 66a and 13a. Next to the shoulders 61band Mb, the arboi's increase in diameter and thus afford shoulders forsupporting thrust bearings 66b and 1312 against the annular faces of thebushings, to prevent side thrust of the plate 6! and binding or rubbingof the inner ends of the album against the bushings. Bearings tea andIan assure freedom of rotation between the head 6t and plate '6 I A ringgear till having its rotational center on the transverse axis of supportof the plate '61, as defined by the bushings 61 and M, arbor's t8 and15, and the related bearings, meshes with a pinion 49 which is on the-arn'rature shaft sea of a synchro transmitter 59. This transmitter isfixed to the lower portion of the head #38. Its function will beexplained more fully herein after. i

From the receding it will be "seen that the polar gyroscope in thepresent embodim'entfprovides two planes of turning freedom of the rotor3I, for the gyroscope includes the bed or plate GI, the head 6'8 "and ispivotal at the arbors 68 and I5 and at the spindle 62. This gyroscopethus is suited to maintain a substantially fixed position in space, andis useful for measuring latitude, preferably by setting the rotor 3|with its axis of spin 32 parallel to the polar axis of the earth andsupplying electric current to the a. plane that is tangential in alldirections to thatpoint on the equator. By the-rotor 3! main-"- traininga fixed position in space, the transverse axis of the instrument platebecomes tangential in an east-west direction, to any point to which theinstrument is moved relative to the earth Should the instrument It bemoved to either pole of the earth from the equator, the axis 6f spindle52 moves from a vertical position relative to'the axis of spin 3-2, toalignmentwith this axis of spin. 3

An indication of latitude advantageously is had on adirect readingportion of the navigational instrument H3, this for example being apanel IDD having ahou's'ing IBI through the front elde of which legibleportions of a latituderegister I02 are visible. These legible portionsgive an indication of northeor south latitude in degrees,

and for example are operated in any suitable manner under the drivingaction of a synchro receiver I88 inside the housing IUI and correspending to the isy-nohro transmitter 59. The driving actionconveniently is achieved by arma t'u-r'e shaft Itsa of the receiver anda pinion III'I fast on this shaft and meshing with pinion I09, rotatablymounted on shaft III, leading to the inner workings of the meter whichare reversible for driving in either direction by the receiver.

The instrument panel Iilll conveniently has a horizontal extension I I2to the front thereof having a glass or other transparent covering H3.021 the bottom of the extension I I2 and fastened to the same is asupport H6 which carries in fixed relation a synchro receiver It!correspond ing to the synchro transmitter 26. The armature shaft of thisreceiver reaches through an opening in the bottom of extension H2 andro-x tatably carries a compass card or disc I I4 graduated in degreesand fractions of degrees and visible under the transparent covering II3.A

, fixed pointer I I5, such as painted on the sur-' face of thetransparent covering I I3 gives a reading with relation to the compasscard or dial, as for example a north reading when the conveyance onwhich the instrument is used is heading due north. The directionreadings in fact are related to the turning of the instrument carriageI3 relative to the spindle 62 and the instrument head 6! Since thecarriage I3 is gimhaled to the instrument casing I2 and the Casing issecured to the conveyance, turning will occur between the carriage andhead when the conveyance changes direction while the polar gyroscope isoperating and the rotor 3I maintains a fixed position in space. Anymovement between the instrument carriage and head ac"- cordingly isrelayed from the synchro transmitter 28 to the corresponding receiverIill which rotates the compass card Ht relative to the fixed pointer M5for indicating the new direction.

I find that gyroscope rotors having their mountings coupled together forcounteracting precession are especially useful for the measurement oflongitude and resisting tendencies to process to the polar position.Thus,.in the navigation instrument It] there are advantageously twooppositely spun east-west rotors which have their mountings coupledtogether on the same gyroscopic support. These are the rotors II and 5|,afforded as armatures of electric motors 40 and 5d fastened to theframes as and 54 in openings t5 and 55 of the instrument bed means suchas plate iii. The framede has low-friction pivotsdt and ll with plateBI, these pivots being on an axis substantially at right angles to theaxis of spin 42 of rotor Ill. Similarly, frame 54 has low-frictionpivots E6 and ill with plate 8|, on an axis substantially at rightangles to the axis of spin 52 of rotor 5t and. parallel to the axis, ofpivots 4B and 4'5. The pivots 355 and 4?, and pivots 56 and 5'!preferably have their axes paral lel to the spin axis 32 of the polargyroscope rotor 3!; y

On the frame 4 3, such as welded on or other-'- wise fastened thereto,is a ring gear ts having plate 6t. shaft 31a for examplebeing in align,I

A ring gear 58 likewise is on. the frame ment with the spin axis 32 ofthe polar gyroscope rotor 3|. By the connection afforded by pinion 33between the ring gears 48 and 58, a force, such as torque developed atpivots 46 and 4'! for example, tending to tilt frame 44 and accordinglythe spin axis 42, is transmitted through the pinion to frame 54 andaccordingly tends to tilt the spin axis 5|. The force thus applied tothe oppositely spinning rotors produces precessional efiectswhich resisteach other, for the pinion 38 assures tilting of the spin axes 42 and 52in like directions, and rotors 4| and 5| have opposed spins. Thus,'aswhere the plate BI is inclined away from the axis of spindle 62 duringuse of the navigation instrument I0, the tendency of precession aboutthis spindle is effectively counteracted. Also, should friction developa torque on spindle 62 under conditions tending to cause apparentend-over-end precessions of the spin axes 42 and 52, these precessionaltendencies would effectively oppose each other through the couplingafforded by the pinion 38.

Gyroscope motors 40 and 50 and their corresponding rotors advantageouslyare substantially alike and operate at the same speeds in the oppositedirections of rotation. The frames 44 and 54, inclusive of ring gears 48and 58 and the pivotal mountings to the plate, preferably aresubstantially alike and advantageously are installed with the motors 40and 50 so that precessional effects on the several east-west gyroscoperotors in the assembly will be substantially equal and opposite. Frames44 and 54 for example are so connected together through ring gears 48and 5B and pinion 38 that the spin axes 42 and 52 pass substantially toalignment with each other in the plane of plate 6| and thence preferablythrough a series of parallel positions relative to each other byrotation of the plate at pivots 46, 47, 56 and 51 while the rotors 4|and 5| maintain a fixed direction in space. Plate BI and the variouscomponents thereon, such as the motors 30, 40 and 50, advantageouslyproduce a condition of balance on the axis of arbors 68 and I5. In thismanner,

for example, the operation of the polar gyroscope is substantially freeof eccentricity caused by unbalance of the plate and thus is all themore effective for maintaining a fixed direction in space. East-westgyroscope rotors 4| and 5| preferably are in balance with rotor 3!across the axis of arbors 68 and I5 and accordingly are better suitedfor maintaining their direction in space.

With the instrument I having the spin axis 32 of polar gyroscope rotor3| set to parallelism with the polar axis of the earth, as hereinbeforedescribed for measurement of latitude and direction, axes 42 and 52 ofthe east-west gyroscope means then are parallel to a plane through theearths equator. Thus, with the rotors 4| and operating in their oppositedirections of spin, and with the instrument I0 disposed for operationalong a given polar meridian, there is an apparent end-over-end turningof the rotors 4| and 5| through 360 on pivots 45 and 41 and pivots 56'and 51 for each sidereal day or complete revolution of the earth on itspolar axis. This apparent end-over-end rotation in fact is a turning ofthe plate 6| relative to the frames 44 and 54 at pivots 45, 41, 55 and5! while the frames and rotors maintain a fixed direction in space. Theturning produces a driving action by ring gears 48 and 58 on pinion 38and accordingly the armature of synchro transmitter 31 is driven byshaft 31a. A synchro receiver I06 operatively connected with thetransmitter 31 has a power out put shaft I06a and, for example, issupported to the instrument panel I00 as by means of support I32 whichalso carries the latitude receiver I08.- Meanwhile, the oppositelyspinning rotors 4| and 5| produce bucking precessional forces to eachother and accordingly resist displacement from fixed direction in space.This also tends to maintain stability of the polar rotor 3 I.

'To compensate for the eifect of sidereal rotation of the earth on therotation of pinion 38 and ensuing operation of the corresponding synchrotransmitter 31 and receiver I05, and gain a measure of longitude, I findadvantage in using a differential gear I22 as between a chronometer I04and the receiver just noted. The chronometer I04 for example is mountedon the instrument panel I00 with its face exposed at an openingthroughthe latter, and the differential gear illustratively is supported tothis panel as by means of a substantially U-shaped bracket I30. The legsof the bracket have aligned openings afford-i ing bearings for arbors onthe opposite sides'of casing I 28 of the differential gear. A ring gearI29, such as integral with the casing I28 and dis posed around theoutside thereof, serves to operate a longitude register I03, the latterconveniently being mounted on the instrument panel so as to have itsface visible at a suitable opening in the panel. The register I03embodies suitable metering mechanism which may be driven in eitherdirection by the gear I29 if need be to indicate position in degrees andwhether the position is east or west of a given meridian.

Inside the differential gear casing I28 retwo bevel gears, one of thesebeing gear I24 afiixed for rotation with the power output shaft I06a ofreceiver I06, and the other being gear I23 having driven connection witha shaft I20a operated by the chronometer I04. The shafts lIlBa and I20aare journaled in the arbors of differential gear casing I28 so as to bein axial alignment and thus are rotatable relative to each other and tothe casing. There are for example three bevel pinions meshing with thebevel gears I23 and I24. These pinions are respectively carried by stubshafts I25a, I26b and I250, inside the casing I28 and fixed at intervalsto the casing wall, thus to rotate with the same as a unit. The bevelpinions are mounted for rotation relative to their supportin stubshafts. For rotating the shaft |20a and accordingly the bevel gear I23,chronometer I04 illustratively has a'time shaft I04a on which there is aray breaker wheel I I6. The wheel is disposed between photoelectric cellII'I and a light beam source II'Ia (see Figure 4) for periodicallyinterrupting the beam to the cell. The electrical impulses thus producedat the photoelectric cell are transmitted through a suitable relaysystem including the cell and a solenoid I I8 having an armature H811.In the path of the armature for operation by the same is a two-pointedpawl II9 (see Figures 5 and 6) having a pivot I33 with a support |3I onthe instrument panel. The pawl oscillates on its pivot I33 byreciprocation of the solenoid armature H811 and the points of the pawlalternately engage the teeth of gear I20 and thus advance the gear forrotating shaft I20a and bevel gear I23. That end of the pawl next to thesolenoid core conveniently is relatively heavy for returning to lowerposition by gravity'once driven upward by the solenoid. It is during theup stroke of the solenoid core that one of the pointed ends of the pawladvances the gear I20, and during the down stroke" that the otherpointed end advances this gear.- It will thus be seen that the doublepointed pawl is double acting in its driving effect, and advantageouslyprevents detrimental back rotation-of the gear I20 such as might beintroduced by forces in the difier'ential gear I22. Also;- it will beseen that the photoelectric cell system advantageously prevents backwardforces on the chronometer time shaft Ma. r 5 v When the instrument i isnot being moved to the east or to the West'syhchro transmitter 31 relaysa rotation to the synchro receiver 105 and the bevel gear I26, thispreferably being equalto the revolutions of the bevel gear I23 which isdriven inthe opposite directicnjby the 'chronometer at a ratecorresponding to the rate at which the rotation of the earth causes thegear 124 to turn in the synchro system; This results in no movement ofthe differential ring gear I29 and consequently introduces no change inthe longitude readingof register- I 93 on the instrument panel. Inmoving the instrunient 16 to the east, the relative movement betweenplate GI and rotors Ail and 5l is increased as compared with themovement achievedby sidereal rotation of the earth alone. Ihis increasedrotation according-1y is imparted to the pinion-38 and through thesynchro system including t'rans- 'mitter 31 and receiver I05 to thebevel gear produce a rotation of ring gear I'ZB repreS'entiii'g changein longitude. The longitude factor in this instance though causes thering gear to turn in an opposite directionas compared withthe effect of;a longitude factor resu'ltingfrom movement of the instrument I!) to the,east. Thus the longitude-register N33 is driven in a reversed;- rectionby theringgear I29' to changethe longitude read-ing forwesterly'movement of the nav igartion instrument. V a

My navigation instrument Hi advantageously includes locking means forlocking andunlock ing the instrument head 6t to the carriage I'3i Thelocking action is to maintain accurate operation of'the longituderegister IE3 at the earth s poles where turning of the instrumentcarriage 53 about spindledi is directly related to long-i tude; If theinstrument were not locked during change of course at the poles,longitude would-be lost should the east-westgyroscope rotors-'41 and 51tend to hold the plate 8'! in its'origin'al position; The lockingconveniently is accomplished by an electro-magnetic lock 83.jw-hichincludesa casing 84 mounted on the instrument head 60. Inside the casingthere is at-solenoid winding 85 and core 86 having a relatively largediameter end 86a. Surrounding the core 85 and interposed between end 36aand tvi'nding 85 is a heli= cal spring 8"! thus to bias the core infavor of upward movement. A brake element 8 8"such' as a rubber foot issecured-to a lower end of the core 85 outside the-Leasing 84ff0r''frictionally 'en- 10 gaging an adjacentsurface of the instrumentcarriage when the instrument to isin the imme? diate vicinity ofeithe'ir of the poles or the earth. This frictional engagement ccurs byvirtue of completion of an electrical circuit for energizing themagnetic 160K 83 through brush" S9" or brush 99 disposed on theinstrument plate 6i. Brush 89 comes in cohtact with casing 83 atthenorth pole of the earth; and brush 98 serves a like function atthe southpole, by virtue of the rem ti've movement of head 60 and plate 61- forlatitiide measurement; Energization of the magnetic lock forces core 86down, compressing spring until frictional engagement of brake cs is h'adagainst the instrument head so; engagement prevents rotation of spmme-62'- rela tive to carriage l3; Under these conditions; the instrumentplate G l" turns with the ship or othei' conveyance and the'longitudegyroscope rotors maintaining their axial directions apparently turnend-over-end as the instrument plate takes up its" new position inlongitude. As previously explained, the apparent end-over-end turningcfthe rotors 4| and 5| relays movement through sync'hrotransmitter 31 andreceiver lffiB' which operates the longitude register Hi3 through thedifferential-gear I22, which inthis' in tance ro g duces' a longitudereadingat the earthsflpoles 'z The locking of the- 'head- 60 andcarriage raise preserves direction indicated by pointer [15' Uponmovement of the instrument 10" away from either pole the earth; plate'ti and heaid 6i undergoat relative movement at'j arbors 68' and Thisdisplaces brush" 851 or 9E}; as" thecasfe ma from circuit completingposition- 120 the m i-m i? rcki ccd cin lv is de energ'iz' H jupwfrdf ffcompression in springs? to free brakefiifl rom frictionalengagementagainst carriage 13, spine-1e t? and carriage l3 thereforea're once more"free to revolve-relative to'eachotherand this rotational freedomadvantageously prevails until either" brushes or 9B is again brought tocircuit closing position in accordance with lati tude.

:Ari eiec'trical system more'partic'ularly repre sentedin" Figure "7'includes the navigation struinent l which" tcrexainple operateso'n'alter na-ting current supply in registering latitudej 1on5 g-itudeand direction; For conductingjj the; ewe; trical current, the instrumentconveniently' in clude'sa plurality of collectorrings met-I85 IBB i 19%,tee-and let mounted onthe underneath side of head fit and 'electricallyinsulated-fronr eacii other-.- Respec'tively corresponding to theserings and'individually contacting the same, rea-pm: r'ality o'f'brushesHHJ'HBSQ-tdii', i9'i, I98 and I-BQ fixed-to the instrument carriage 53'and electri c'ally' insulated from each other. These collector rings-'and"brushes'=m"aintain electrical connection across the carriage i3"and head 60 despiterel'a' t-ive movement of the-lattertWo-elementsas'fpere mitt-ed; the spindlef'cii P Fixed on the arbor are"collector rings ltd-and! 8t; likewiseythere are collector rings the andtd i fixe'd to arbforf 15 These rings are electrically"insulated tram";each other, and brushes I82, we, :92 and IE3 ndiv id uallycontact therings and are 'fiiedf-i lettically '-'-insulatedrelation to Yea-ch otheri on th strument plate 6i. Blatetl'andheadttfa co ing-ly ayundergorelativerotation' at th e arbbrs 6B and withoutdestroyin'g theb'rush arfd ring electrical connections. I

An alternating current generater "iliirstra' tively' suppl ies operatingcurrent to the in'stiument I and includes an output line having theleads I! and I52. The motor 39 of the polar gyroscope is in a circuitwhich may be traced from generator I50through leads I52 and I54 tofiacontrol switch I58 forstarting and stopping the motor and accordinglythe polar gyroscope rotor3I From the switch, which for example issuitably mounted on the instrument panel I09, the circuit continuesthrough leads I6I and I16 to brush I88, collector ring I85 and thencethrough lead 518 to collector ring I8I, brush I83, lead 208, motor 30,lead 209 to plate 6I. The current then courses from the plate througharbor 68 for example, and through head 60 and spindle 62 to carriage I3.Lead I53 completes the circuit back to lead I5I and generator I50. flhesynchro transmitter 59 and receiver E08 ior measuring latitude,illustratively have their armatures energized in parallel from theenergizing circuit of the polar gyroscope motor 30 and are under thecontrol of switch I58. The circuit of transmitter 59 beg-inning withgenerator I50 includes leads I52, I54 and switch I58, leads. I6I, I16 tobrush I89, collector ring I86, lead I19 to the transmitter, lead 2I0 tothe plate 6|. From the plate the circuit returns for example thorugharbor 66, head 69, spindle 62, carriage I3 and leads I53 and I5I to thegenerator. Receiver I08 is in circuit with the generator through leadsI52 and I54, switch I58, and leads I60, I51 and I5I. The field windingsof transmitter 59 and receiver I08 are connected together for thesynchronous operation, one connection of which for example isrepresented by lead 285, brush I91, collector ring E94 and lead 2I I.Similar parallel connections of the field windings illustratively extendbetween leads 205a and 2I id, and leads 205D and 2| Ib.

" Motor 20 of the stabilizing gyroscope is energiz ed in parallel withthe polar gyroscope motor 39. The circuit in this instance may be tracedfrom generator I56 through leads I52 and I54 and switch I58 to lead I6I,thence to the motor 20. The current returns through lead I10, carriageI3 and lead I53 to the generator.

The synchro system including transmitter 26 and receiver I91 formeasuring direction, illustratively embodies parallel connection of thetransmitter and receiver armatures in the energizing circuit of polargyroscope motor 30. Thus, for energizing the transmitter 26, there is acircuit from generator I50 through leads I52, I54 and switch I58,alongleads I6I and I65 to the transmitter and thence along lead I1I tothe carriage I3. Lead I53 returns the current from the carriage to leadI5I and thus back to the generator. Also, a circuit for the receiver I01is traceable from the generator through leads I52, I54 and switch I58,along leads I6I and I68 to the receiver, and back along leads I66, I53and I5I to the generator. Thefield windings of transmitter 26 andreceiver I01 are connected together for the synchronous operation, oneconnection of which for example is represented by lead I69. Similarparallel connections of the field windings illustratively are had byleads I690. and I691).

Gyroscope motors 40 and 50 in the system illustrated in Figure 3 areconnected in series for rotation of their armatures 4| and 5I inopposite directions of space. In this, the generator I50 is in circuitthrough leads I52 and I56, switch I59, leads I62, I63 and I64, brush I81and collector ring I84, lead I11, collector ring I80and brush I82andlead I61, with the motor 59, the circuit continuing through lead I14,motor 49 and lead I14 to plate 6| to connect both of these motors inseries. Current returns to the generator I59 from plate 6| as througharbor 68 and head 60, spindle 62, carriage I3 and leads I53 and I5I.

Synchro transmitter 31 and receiver I06 used for measuring changes inlongitude are connected in parallel with the generator I50 and arecontrolled by switch I59 as are the motors 49 and 50. Thus, a circuitmay be traced from generator I59, through leads I52 and I56, switch I59,leads I62 and 206 to brush I98 and collector ring I95 through lead 264,collector ring I9I, brush I93 and lead 200 to synchro transmitter 31.From the transmitter the current returns through lead 230, plate 6I,head 60, carriage I3 and leads I 53 and I5I to the generator I50.Receiver I06 meanwhile is energized by the generator through leads I52and I56, switch I59, lead I62 to the receiver, and leads I55 and I5Iback to the generator. The field windings of transmitter 31 and receiverI96 are connected for the synchronous operation, one connection of whichfor example is represented by lead 20I, brush I92, collector ring I90,lead 203, brush I96, ring I99 and lead 201. Similar parallel connectionsof the field windings illustratively extend between leads 20Ia and 291a,and leads 29Ib and 291D. V

The electro-magnetic lock 84 conveniently has its winding 85 energizedunder the control of switch I59, and contacts 89 and 96 for secondarycontrol. The winding illustratively is connected in parallel with theenergizing circuit of motors 49 and 59 through lead I12, contact 89 andlead I15, or through leads I14 and 202, contact 96 and lead I15depending upon whether the instrument I0 is at the north or south poleof the earth.

For functioning with the chronometer I04, photocell II1, light beamsource HM and solenoid II8 conveniently receive their energizing currentfrom leads 231 and 232 under the control of switch I59 so as to beturned on and off with motors 40 and 50 of the longitude measuringsystem.

The instrument panel I conveniently includes a manual setting knob 25Ior the like which may be depressed to engage a suitable clutch thus toset the chronometer to desired time indication. A manual set 253 on theinstrument panel is useful for setting the latitude register I92, as bydepressing to engage a suitable clutch and rotating to drive theregister mechanism. In this, the synchro receiver I98 conveniently isoperated by the input of the manually introduced power to become atransmitter. The transmitter 59 thus becomes a receiver and is effectivefor rotating the pinion 49 and ring gear 80 for bringing axis 32 of thepolar gyroscope rotor to parallel position relative to the earths polaraxis in a given latitude. Sim ilarly, a manual set 252 on the instrumentpanel I99 is useful for manually setting the longitude register I93 to agiven longitude reading. While the rotation of the register mechanismconveniently may be transmitted by connection through the difierentialgear I22 to operate the receiver I06 as a transmitter, and thetransmitter 31 as a receiver for rotating the frames 44 and 54 of the.longitude gyroscopes, this is relatively unimportant in the presentembodiment.

,Thus, it will be seen that in this invention thereis providedgyroscopic apparatus by which the various objectshe'reinbefore notedtogether.

with many thoroughly practical advantages are successfully achieved. Itwill also be seen that the apparatus readily aiiords solutions toproblems in the gyroscopic navigational field as from the standpoint ofstabilityof operation. While in the present embodiment particularemphasis has been placed upon the utilization of a single gyroscopic bedor plate for support i-ng longitude and latitude rotors, it wi-llbeappreciated that certain advantages still at times are had by omittingthe latitude gyroscope rotor or rotors from the bed and employing thecoupled longitude gyroscope rotors in proper balance with the bed andits arbors for measuring longitude.

As many possible embodiments may be made of my invention and as manychanges may be made in the embodiment hereinbefore set forth, it will beunderstood that all matter described herein is to be interpreted asillustrative and not as a limitation. "I claim: V 1. Navigationalapparatus, comprising, gyroscopio bed means supported for freedom ofrotaon a vertical axis, suited for being sub-stantially aligned with theQ i Tths center of gravity andbn a transverse axis suited for setting ina plane substantially normal to the polar axis of tha teas, spacedframes mounted to saidbed and; having freedom of rotation on sub.-stantially parallel axes at right angles to said tltansverse axis ofsupport, gyroscopic rotors corresponding to said frames and mountedthereto for: spinning on axes substantially at right angles to saidsubstantially parallel axes and maintains ing spatial direction as a;basis for determining ohanges in longitude of position relative totheearth, ring gears around said frames and rotatable, on the same axistherewith, and pinion means. disposed on said bed means for rotationaround said ring gears in accordance withsidereal rotation ofjthe earthand changes in. longitude of position and for interconnecting saidrotors in precessionalffo'rce opposition through said rings gears andframes.

2- a igati al appara us, compr sin yr scvs s head means r ed r e om itation on a vertical axis suited for being subtially aligned with theearths center of gravit bad means for relative rotation'with respectt'ojsa id head means the relative rotation being ona. transverse axissuited for setting in, a 'plane substantially normal to the polar axisof," the earth, at least one p'olar gyroscopic rotor mount.- :5

edit o said bed means for maintaining spatial di recti'on substantiallyparallel to the polar axis of the' earth as a basis for determininglatitude or position relative to the earth, a ring gear around said bedmeans and having an axis of rotation therewith substantially coincidentwith said transverse axis, a gear fixed for rotation on said head meansand driven by said ring gear in accordance with changes in latitudeof'position, spaced frames mounted to saidbedmeans and having freedom ofrotation on substantially parallel axes at right angles to saidtransverse axis, gyroscopic longitude rotors corresponding to saidframes and rnounted thereto for spinmug in opposition on axessubstantially at right 1' anglesto said substantially parallel axes andmaintaining spatial direction as a basis for determining changes inlongitude of position rel ative to the earth, ring gearsaroundsaidframes and rotatable-onthesame axis therewith, and

14 T pinion means disposed on said bed means for. moving around in meshwith said frame ring gears in accordance with sidereal rotation of theearth and changes in longitude of position and for interconnecting saidlongitude gyroscopic rotors in substantially alike spatial direction ontheir" spin axes and in precessional force opposition through said ringgears and frames.

3'. Navigational apparatus, comprising, head means, carriage meansfor-supporting said head means in freely rotatable relation on avertical axis substantially aligned with the earths center of gravity,bed means pivoted to said head -means on a transverse axis suited forsetting in a plane substantially normal to the polar axis of the earth,at least one polar gyroscopic rotor mounted to said bed means formaintaining spatial direction substantially parallel to the polar axisof the earth with rotation of the head means about said transverse axisin accordance with change in latitude of position, longitude gyroscopicfrotors pivotally mounted to said bed means on axes substantiallyparallel to each other at right angles both to their axes of spin andsaid transverse axis to maintain spatial direction with rotation of saidbed means about the same in accordance with sidereal rotation oftheearth n s ave i n i u pos tion, a d e r tude gyroscope rotors beinginterconnected to od-a e, bu kin ec s nal o es to ach o her for tabi i yd r n sp n a d 10 %:v a s 319- tive between said head means and thecarriage means to locklhe same against relative rota? tion on' saidvertical axis only in the vicinity. of the poles of the earth.

:4 v tiona p ara s, om isi he means, carriage means for supportin saidhead means in freely rotatable relation on a vertical axis substantiallyaligned withthe eart-hs center of gravity, bed means pivoted to saidhead means on a transverse axis suited for setting in a. planesubstantially normal to the polar axis of the earth, at least one polargyroscopic rotor mounted to said bed means for maintaining spa,- tialdirection substantially parallel to the polar axis of the earth withrotation of the head. means. about said transverse axis, in accordancewith change in latitude of position, at least one longitudev gyroscopicrotor pivoted, substantially at: right anglesboth to its axis of spinand said tpans'verse axis to thebed means for maintaining spatialdirection with rotation of the latter abdut the, same in accordance withsidereal rotation of the earth and change in longitude of position, andlock means efiective between said head means and carriage means to lockthe-same against relative rotation only inthe vicinity of the poles ofthe earth.

5. Navigational apparatus, comprising, gyroscopically supported rotorseach having an in:- dividually corresponding axis of spin and means forspinning each of said rotors continuously in a suitable given spatialdirection to afford a basis for determininglongitude, and means.intercom neicting said rotors in bucking precessional force relation tocounteract tendencies thereof to process from said gi-Venspatialdirection.

6'. Navigational apparatus, comprising, gyroscopica-lly supported rotorshaving substantially parallel axes of spinand means for spinning; saidrotors continuously in opposite directions of rotation in a suitablegiven spatial direction to afford a basis, for determining longitude,and means interconnecting said rotors to counteract i3 tendencies ofsaid rotors to precess from said given spatial direction.

'7. Navigational apparatus, comprising, head means supported for freedomof relation on an axis suited for being substantially aligned with theearths center of gravity, longitude rotors gyroscopically disposed onsaid head means and each having an axis of spin suited for setting tosubstantially east-West spatial direction and means for spinning each ofsaid rotors continuously in the east-west direction to afford a basisfor determining longitude of position relative to the earth, and meansinterconnecting said rotors in bucking precessional force relation tocounteract tendencies of each to precess from said spatial direction. I8(Navigational apparatus, comprising, gyroscopic bed means supported forfreedom of rotation on an axis suited for being substantially alignedwith the earths center of gravity and on a transverse axis suited forsetting in a plane substantially normal to the polar axis of the earth,gyroscopic rotors pivotally mounted to said bed means on axessubstantially parallel to each other at right angl s both to their axesof spin and said transverse axis of support and said rotors having meansfor continuously spinning the same in opposite directions of rotationand each in a given suitable spatial direction to afford a basis fordetermining longitude of position relative to the earth, and meansinterconnecting said rotors for preserving substantially alike spatialdirection of these axes of spin and in bucking precessional forcerelation to counteract tendencies thereof to precess from said givenspatial direction.

9. Navigational apparatus, comprising, gyroscopic bed means supportedfor freedom of rotation on an axis suited for being substantiallyaligned with the earths center of gravity and on a'transverse axissuited for setting in a plane substantially normal to the polar axis ofthe earth, at least one polar rotor connected with said bed means, andlongitude rotors pivotally mounted to said bed means on axes at rightangles both to their axes of spin and said transverse axis of support,and said polar rotor and longitude rotors each having means forcontinuously spinning the same for said polar rotor to stabilize saidbed means with spin on an axis substantially parallel to the polar axisof the earth and for each of said longitude rotors to spin in suitablespatial direction to afford a basis for determining longitude ofposition relative to the earth, and means interconnecting said longituderotors in bucking precessional force relation to counteract tendenciesthereof to precess from said given spatial direction.

10. Navigational apparatus, comprising, head means supported for freedomof rotation on an axis suited for being substantially aligned with theearths center of gravity, at least one latitude rotor and longituderotors in gyroscopic assembly with said head means, each of said rotorshaving an axis of spin and means for continuously spinning each of thesame with the axis of spin of said latitude rotor disposed substantiallyparallel to the polar axis of the earth and the axes of spin of saidlongituderotors in substantially east-west spatial direction, meansinterconnecting said longitude rotors in bucking precessional forcerelation to counteract tendencies thereof to precess from said spatialdirection, means for converting deflection in said assembly relative tothe axes of spin 16: of said longitude rotors on change in longitude toterms of longitude, and means for converting deflection in said assemblyrelative to the axis of spin of said latitude rotor on change inlatitude to terms of latitude.

11. Navigational apparatus, comprising, head means supported for freedomof rotation on an axis suited for being substantially aligned with theearths center of gravity, longitude rotors in gyroscopic assembly withsaid head means, each of said rotors having an individuallycorresponding axis of spin and means for spinning each of said rotorscontinuously in a suitable given spatial direction to afford a basis formeasuring longitude, means interconnecting said longitude rotors inbucking precessional force relation to counteract tendencies thereof toprecess from said spatial direction, and means for converting deflectionin said assembly relative to the axes of spin of said longitude rotorson change in longitude to terms of longitude. 1

12. Navigational apparatus, comprising, gyroscopically supported frameseach having an individually corresponding axis of rotation, rotorsrespectively corresponding to said frames and mounted to said frameswith their axes of spin substantially at right angles to the axis ofrotation of the corresponding frame and means for spinning each of saidrotors continuously in a given spatial direction to afford a basis fordetermining longitude, ring gears around said frames and rotatable onthe same axes therewith, pinion means having an axis fixed relative tothe axes of said frames and driven by said gears in accordance withsidereal rotation of the earth and changes in longitude of position andfor in terconnecting said rotors in precessional force oppositionthrough said ring gears and frames, a differential gear having powerinput sides and a power output side, one input side thereof to rotate inaccordance with sidereal rotation of the earth and changes in longitudeof position by power derived from said pinion means, and chronometermeans for driving the other of the input sides of said differential gearin a direction to produce a resulting rotation of the output side inaccordance with longitude.

13. Navigational apparatus, comprising, head means having a spindle, apendulous carriage for supporting said spindle substantially on avertical axis aligned with the earths center of gravity, rotor means onsaid carriage for stabilizing the same, at least one latitude rotor andlongitude rotors in gyroscopic assembly with said head means, each ofsaid rotors having an axis of spin and means for continuously spinningeach of the same with the axis of spin of said latitude rotor disposedsubstantially parallel to the polar axis of the earth and the axes ofspin of said longitude rotors in substantially east-west spatialdirection, and means interconnecting said longitude rotors in buckingprecessional force relatio n t'o counteract tendencies thereof toprecess from said spatial direction.

14. Navigational apparatus, comprising, head means having a spindle, apendulous carriage for pivotally supporting said spindle on a verticalaxis substantially aligned with the earths center of gravity, rotormeans on said carriage for stabilizing the same, bed means pivoted tosaid head means on a transverse axis suited for setting in a planesubstantially normal to the polar axis of the earth, at least onelatitude rotor mounted to said bed means and having an axis of spin fordisposition substantially parallel to the polar axis l 17 of the earthand longitude rotors pivotally mounted to said bed means on axes atright angles to their axes of spin and said transverse axis of support,and said latitude and longitude rotors each having means for spinningthe same for said latitude rotor to maintain its axis of spinsubstantially parallel with the polar axis of the earth to afford abasis for determining latitude and for said longitude rotors to rotatein opposite directions of spin with respect to each other and insuitable spatial direction to afiord a basis for determining longitude,and means interconnecting said longitude rotors in bucking precessionalforce relation to counteract tendencies thereof to precess from saidgiven spatial direction.

15. Navigational apparatus, comprising, rotary electric motor armatureseach having an individually corresponding gyroscopically supported framerotatable on an axis and having an axis of spin on said frame at rightangles to said frame axis, field means on said frames for spinning saidarmatures continuously each in a suitable given spatial direction toafford a basis for determining longitude, and means interconnect ingsaid armatures in bucking precessional force relation to counteracttendencies of the armatures to precess from said given spatialdirection.

16. Navigational apparatus, comprising, head means supported for freedomof rotation on an axis suited for being substantially aligned with theearths center of gravity, at least one polar rotor and longitude rotorsin gyroscopic assembly with said head means, each of said rotors havingan axis of spin and, means for continuously spinning the same for saidgyroscope rotor to stabilize said assembly with spin on an axissubstantially parallel to the polar axis of the earth and for each ofsaid longitude rotors to spin with their spin axes in substantiallyeast-west spatial direction to afford a basis for determining longitudeof position relative to the earth, and means interconnecting saidlongitude rotors in bucking precessional force relation to counteracttendencies thereof to precess from said spatial direction.

17. Navigational apparatus, comprising, gyroscopically supported frameseach having an individually corresponding axis of rotation, rotorsrespectively corresponding to said frames with their axes of spinsubstantially at right angles to the axis of rotation of thecorresponding frame and means for spinning each of said rotorscontinuously in a given spatial direction to afford a basis fordetermining longitude, ring gears around said frames and rotatable onthe same axes therewith, and pinion means having an axis fixed relativeto the axes of said frames and driven by said gears in accordance withsidereal rotation of the earth and changes in longitude of position andfor interconnecting said rotors in precessional force opposition throughsaid ring gears and frames.

18. Navigational apparatus, comprising, a gyroscopic head supported forfreedom of rotation on an axis suited for being substantially alignedwith the earths center of gravity, a gyroscopic bed rotatably supportedto said head on an axis transverse to said head axis, gyroscopic rotorspivotally mounted to said bed on axes substantially at right angles totheir axes of spin and said bed axis and said rotors having means forcontinuously spinning the same each in a suitable spatial direction toafiord abasis for determining longitude of position relative to theearth, and means interconnecting said rotors in bucking precessionalforce relation to counteract tendencies thereof to precess from saidgiven spatial direction.

, FREDERICK H. DOWNING.

REFERENCES CITED The following references are of record in the file ofthis patent:

UNITED STATES PATENTS Number Name Date 2,414,291 Evans Jan. 14, 1947FOREIGN PATENTS Number Country Date 352,431 France May 30, 1905 646,425Germany June 14, 1937

